ELEC0047 - Power system dynamics, control and stability

Dynamics of the induction machine

Thierry Van Cutsem

t.vancutsem@ulg.ac.be www.montefiore.ulg.ac.be/~vct

October 2017

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 Brief recall

Brief recall

Induction or asynchronous machine

motor widely used in industry, tertiary sector, etc.
sometimes also as small generator

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 Brief recall

Principle of operation

Stator:
three-phrase windings carrying three-phase currents of angular frequency ωs
produces a magnetic field rotating at angular speed ωs
a single pair of poles is assumed for simplicity.

Rotor:
rotates at a speed ωr 6= ωs characterized by the motor slip :
ωs − ωr
s=
ωs
can be modeled with a set of three-phase windings
currents induced in these windings have angular frequency ωs − ωr = sωs
and produce a magnetic field rotating at angular speed sωs with respect to
the rotor, i.e. sωs + ωr = ωs with respect to the stator.

Both rotating magnetic fields are fixed with respect to each other.

Their interaction creates the electromagnetic torque.

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 Brief recall

Two types of machines: squirrel-cage and wound rotors

Squirrel-cage rotor
non insulated aluminum or copper bars inserted in slots, connected at their
ends to allow the currents to flow
simple construction, easy maintenance, reliable operation
possible presence of a second cage aimed at providing a larger starting torque
(non considered here).

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 Brief recall

Wound rotor
the rotor carries insulated three-phase windings, which are accessed through
sliprings and brushes
used when the rotor circuits have to be accessed, e.g. to control
the starting torque (external resistance)
the starting current
the rotor speed
construction and maintenance are more expensive.

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 Brief recall Modelling the induction machine

Modelling the induction machine

Motor sign convention at both stator and rotor.

dψa dψb dψc
va = Rs ia + vb = Rs ib + vc = Rs ic +
dt dt dt
dψA dψB dψC
0 = Rr iA + 0 = Rr iB + 0 = Rr iC +
dt dt dt
Rs : resistance of one stator circuit Rr : resistance of one rotor circuit

single pair of poles assumed for simplicity of notation

6 / 18
 Brief recall Park transformation, equations and inductance matrix

Park transformation, equations and inductance matrix

Several reference frames can be used, depending on the application

we use a very general one where the d and q axes rotate at some speed ωref
both stator and rotor windings are transformed into this reference frame
this yields new, equivalent windings which are all fixed wrt each other.

ωr : rotor speed

original transformed relative

windings into speed
stator a, b, c ds, qs, os ωref
rotor A, B, C dr , qr , or ωref − ωr

7 / 18
 Brief recall Park transformation, equations and inductance matrix

By similarity with the derivations of the synchronous machine :

dψds
vds = Rs ids + ωref ψqs +
dt
dψqs
vqs = Rs iqs − ωref ψds +
dt
dψos
vos = Rs ios +
dt
dψdr
0 = Rr idr + (ωref − ωr )ψqr +
dt
dψqr
0 = Rr iqr − (ωref − ωr )ψdr +
dt
dψor
0 = Rr ior +
dt
    
ψds Lss Lsr ids

 ψqs  
  Lss Lsr 
 iqs 


 ψos  
= Los 
 ios 


 ψdr   Lsr
  Lrr 
 idr 

 ψqr   Lsr Lrr  iqr 
ψor Lor ior
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 Brief recall Park transformation, equations and inductance matrix

Typical values

Rs 0.01 - 0.12 pu Rr 0.01 - 0.13 pu

Lss − Lsr 0.07 - 0.15 pu Lrr − Lsr 0.06 - 0.18 pu
Lsr 1.8 - 3.8 pu
per unit values on the machine base

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 Brief recall Energy, power and torque

Energy, power and torque

Stator power balance

Instantaneous power entering the stator =

Joule losses in stator pJs

+ d/dt magnetic energy in stator windings Wms
+ power passing from stator to rotor ps→r (what type of power is it ?)

pT (t) = va ia + vb ib + vc ic = vds ids + vqs iqs + vos ios

2 2 2 dψds dψqs dψos
= (Rs ids + Rs iqs + Rs ios ) + (ids + iqs + ios )
dt dt dt
+ωref (ψqs ids − ψds iqs )

Hence:
ps→r = ωref (ψqs ids − ψds iqs ) (1)

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 Brief recall Energy, power and torque

Rotor power balance

Power passing from stator to rotor ps→r =

Joule losses in rotor pJr + d/dt magnetic energy in rotor windings Wmr
+ d/dt kinetic energy Wc + power transferred to the mechanical load Pm .

From the Park equations :

vdr idr + vqr iqr + vor ior = 0
2 2 2 dψdr dψqr dψor
(Rr idr +Rr iqr +Rr ior )+(idr +iqr +ior )+(ωref −ωr )(ψqr idr −ψdr iqr ) = 0
dt dt dt
dWmr
pJr + = −(ωref − ωr )(ψqr idr − ψdr iqr )
dt

Hence, the above rotor power balance equation can be rewritten as :

dWc
ps→r = −(ωref − ωr )(ψqr idr − ψdr iqr ) + + Pm
dt

Replacing ps→r by (1) and using the rotor motion equation :

(ωref − ωr )(ψqr idr − ψdr iqr ) + ωref (ψqs ids − ψds iqs ) = ωr Te
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 Brief recall Energy, power and torque

Expressions of torque

ψqs ids − ψds iqs = (Lss iqs + Lsr iqr )ids − (Lss ids + Lsr idr )iqs = Lsr (iqr ids − idr iqs )

ψqr idr − ψdr iqr = (Lrr iqr + Lsr iqs )idr − (Lrr idr + Lsr ids )iqr = Lsr (iqs idr − ids iqr )
= −(ψqs ids − ψds iqs )

Hence :

Te = ψqs ids − ψds iqs = ψdr iqr − ψqr idr = Lsr (iqr ids − idr iqs ).

Remarks
The above derivation shows that ps→r = ωref Te
ps→r is both of electromagnetic and mechanical nature
the expression of Te looks very similar to that of the synchronous machine
but both machines behave quite differently
in particular, in the synchronous machine, ps→r is of mechanical nature only.
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 Brief recall Rotor motion equation

Rotor motion equation

Following the same derivation as for the synchronous machine yields :
d
2H ωr = Te − Tm
dt
where H is the inertia constant, in second
ωr , Te and Tm are in per unit
t is in second.

Mechanical torque Tm : varies with the rotor speed ωr

A common model is :

Tm = Tmo Aωr2 + Bωr + C

with A + B + C = 1

where :
Tmo is the torque value at synchronous speed, i.e. when ωr = 1
A, B et C depend on the driven mechanical load.
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 Brief recall Rotor motion equation

Typical inertia and torque parameters

component A B C H (s)
heat pump, air conditioning 0.2 0.0 0.8 0.28
refrigerator, freezer 0.2 0.0 0.8 0.28
dishwasher 1.0 0.0 0.0 0.28
clothes washer 1.0 0.0 0.0 1.50
clothes dryer 1.0 0.0 0.0 1.30
pumps, fans, other motors 1.0 0.0 0.0 0.70
small industrial motor 1.0 0.0 0.0 0.70
large industrial motor 1.0 0.0 0.0 1.50
power plant auxiliaries 1.0 0.0 0.0 1.50
agricultural water pump 1.0 0.0 0.0 0.4

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 Brief recall Model under the phasor approximation

Model under the phasor approximation

Neglecting transformer voltages and dropping the “os” winding:
vds = Rs ids + ωref ψqs (2)
vqs = Rs iqs − ωref ψds (3)
The other equations are unchanged. Dropping the “or ” winding:
dψdr
= −Rr idr − (ωref − ωr )ψqr (4)
dt
dψqr
= −Rr iqr + (ωref − ωr )ψdr (5)
dt
ψds = Lss ids + Lsr idr (6)
ψqs = Lss iqs + Lsr iqr (7)
ψdr = Lsr ids + Lrr idr (8)
ψqr = Lsr iqs + Lrr iqr (9)
d
= ψdr iqr − ψqr idr − Tmo Aωr2 + Bωr + C


2H ωr (10)
dt

Third-order model of the (single-cage) induction machine.

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 Brief recall Simplified (first-order) model

Simplified (first-order) model

Rotor windings contribute with fast transients
approximation: assume their dynamics infinitely fast, and set dψr /dt = 0
this yields a first-order model, with rotor motion as the only dynamics.

At the rotor:

0 = Rr idr + (ωref − ωr )ψqr = Rr idr + (ωref − ωr )Lrr iqr + (ωref − ωr )Lsr iqs
0 = Rr iqr − (ωref − ωr )ψdr = Rr idr − (ωref − ωr )Lrr idr − (ωref − ωr )Lsr ids
ωref − ωr
Dividing by :
ωref
ωref Rr
0 = idr + ωref Lrr iqr + ωref Lsr iqs (11)
ωref − ωr
ωref Rr
0 = iqr − ωref Lrr idr − ωref Lsr ids (12)
ωref − ωr
ωref − ωr
is the rotor slip with respect to ωref .
ωref
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 Brief recall Simplified (first-order) model

At the stator:

vds = Rs ids + ωref (Lss iqs + Lsr iqr ) (13)

vqs = Rs iqs − ωref (Lss ids + Lsr idr ) (14)

By analogy with the synchronous machine, one can interpret :

ids and iqs as projections on the (d, q) axes of a rotating vector representing
the current in phase a, with corresponding phasor I¯;
idr and iqr as projections on (d, q) axes of a rotating vector representing the
current in one rotor winding, seen from stator, with corresponding phasor I¯r .

Eqs. (11, 12) and (13, 14) can be combined into complex equations:

V = Rs I + jωref Lss I + jωref Lsr I r

ωref Rr
0= I r + jωref Lrr I r + jωref Lsr I
ωref − ωr

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 Brief recall Simplified (first-order) model

This corresponds to the equivalent circuit :

in which :
the “electrical part” is static
ωr varies according to the rotor motion equation (10).

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